https://www.subseatechnologies.com/hemisphere-gnss/oem-modules/h102/
H102
Enjoy the simplified integration, flexible communication, and powerful, precise performance of the all-in-one Vector™ H102™ GPS compass OEM board. The integrated Crescent® Vector™ II technology offers precise heading and positioning as well as heave, pitch, and roll output.
The Vector H102 integrates two GPS antennas, a CANBUS communications processor, a single axis gyro, tilt sensors and a power supply into a single board. The dual antennas allow for ease of integration into your application and provide 0.75 degree heading and 1.0 m position accuracy even while sitting stationary. The gyro and tilt sensor improve system performance and provide backup heading information if the GPS-based heading is temporarily lost. The integrated Crescent Vector II technology provides more accurate code phase measurements and improved multipath mitigation resulting in excellent accuracy and stability.
Resources:
Firmware (external link)